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autotest: add test for compass error state logging

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Peter Barker 2022-05-03 11:50:21 +10:00 committed by Peter Barker
parent 82f4faec31
commit 336079ddfa
1 changed files with 10 additions and 8 deletions
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18
Tools/autotest/arducopter.py
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@ -7402,14 +7402,16 @@ class AutoTestCopter(AutoTest):
def SensorErrorFlags(self): def SensorErrorFlags(self):
self.reboot_sitl() self.reboot_sitl()
for (param_value, expected_ecode, desc) in [ for (param_names, param_value, expected_subsys, expected_ecode, desc) in [
(1, 4, 'unhealthy'), (['SIM_BARO_DISABLE', 'SIM_BAR2_DISABLE'], 1, 18, 4, 'unhealthy'),
(0, 0, 'healthy') (['SIM_BARO_DISABLE', 'SIM_BAR2_DISABLE'], 0, 18, 0, 'healthy'),
(['SIM_MAG1_FAIL', 'SIM_MAG2_FAIL', 'SIM_MAG3_FAIL'], 1, 3, 4, 'unhealthy'),
(['SIM_MAG1_FAIL', 'SIM_MAG2_FAIL', 'SIM_MAG3_FAIL'], 0, 3, 0, 'healthy'),
]: ]:
self.set_parameters({ sp = dict()
"SIM_BARO_DISABLE": param_value, for name in param_names:
"SIM_BAR2_DISABLE": param_value, sp[name] = param_value
}) self.set_parameters(sp)
self.delay_sim_time(1) self.delay_sim_time(1)
mlog = self.dfreader_for_current_onboard_log() mlog = self.dfreader_for_current_onboard_log()
success = False success = False
@ -7418,7 +7420,7 @@ class AutoTestCopter(AutoTest):
print("Got (%s)" % str(m)) print("Got (%s)" % str(m))
if m is None: if m is None:
break break
if m.Subsys == 18 and m.ECode == expected_ecode: # baro / ecode if m.Subsys == expected_subsys and m.ECode == expected_ecode: # baro / ecode
success = True success = True
break break
if not success: if not success: